WO2017013184A1 - Method for controlling a brushless motor - Google Patents

Method for controlling a brushless motor Download PDF

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Publication number
WO2017013184A1
WO2017013184A1 PCT/EP2016/067330 EP2016067330W WO2017013184A1 WO 2017013184 A1 WO2017013184 A1 WO 2017013184A1 EP 2016067330 W EP2016067330 W EP 2016067330W WO 2017013184 A1 WO2017013184 A1 WO 2017013184A1
Authority
WO
WIPO (PCT)
Prior art keywords
angle
signal
rotor
stator coils
angle measuring
Prior art date
Application number
PCT/EP2016/067330
Other languages
German (de)
French (fr)
Inventor
Horst-Günter SEELIG
Torsten Haase
Original Assignee
Elmos Semiconductor Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to DE102015009581 priority Critical
Priority to DE102015009581.1 priority
Priority to EP16152948 priority
Priority to EP16152948.2 priority
Application filed by Elmos Semiconductor Aktiengesellschaft filed Critical Elmos Semiconductor Aktiengesellschaft
Publication of WO2017013184A1 publication Critical patent/WO2017013184A1/en

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Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14Electronic commutators
    • H02P6/16Circuit arrangements for detecting position
    • H02P6/18Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14Electronic commutators
    • H02P6/16Circuit arrangements for detecting position
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14Electronic commutators
    • H02P6/16Circuit arrangements for detecting position
    • H02P6/18Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/181Circuit arrangements for detecting position without separate position detecting elements using different methods depending on the speed

Abstract

The invention relates to a method for controlling a brushless electric motor that comprises a rotor able to rotate about a rotor axis, a stator having at least two, preferably three, stator coils (L1, L2, L3) arranged at an offset to one another, and an angle measurement device (W) for determining the current rotational position of the rotor in its rotation. In said method, the current rotational position of the rotor is continuously measured, at least intermittently, by the angle measurement device (W) which supplies an angle measurement signal. The at least two stator coils (L1, L2, L3) are energised with one coil current each, in order to generate a magnetic rotational field. A BEMF signal (BEMF1, BEMF2, BEMF3) representing the induced BEMF voltage is generated for at least one of the stator coils (L1, L2, L3). The angle measurement signal of the angle measurement device (W) is corrected on the basis of the BEMF signal (BEMF1, BEMF2, BEMF3) for the at least one stator coil (L1, L2, L3). The energising of the at least two stator coils (L1, L2, L3) is controlled on the basis of the corrected angle measurement signal of said angle measurement device (W).

Description

 Method of controlling a brushless motor

The invention relates to a method for controlling a brushless motor based on a corrected angle measurement signal representing the current rotor position of the rotor, wherein the angle measuring system is calibrated on the basis of the measured BEMF of the motor and thus corrected.

Description of the Related Art

Various methods for controlling the rotor position of brushless motors are known from the prior art (see eg in DE-A-10 2009 030 954, DE-A-10 2005 045 323 and US-A-2004/0257027). A brushless motor has a typically permanently energized rotor on a motor axis around which it can make a turn. Typically, three stator coils, but at least two stator coils, produce a rotating magnetic field, which is then followed by the permanently magnetized rotor. One or more electronic or electromagnetic angle measuring devices, for example one or more potentiometers, and / or an optical angle measuring device such as an optical polarization angle measuring device and / or a coding disc, or an electromechanical angle measuring device provide an analog and / or quasi-analog angle reading for the rotor position, which is then used for controlling the motor current. Quasianalog here means that the grading of a quantized angle measuring device is so small that it is of no importance for the application. Figure 1 shows schematically such a system from the prior art based on a continuously measuring angle measuring device (W). The exemplary motor has three stator coils, a first stator coil (LI), a second stator coil (L2) and a third stator coil (L3). The three stator Coils are each mounted in a first and second angle of, for example, in the case of three stator coils preferably 120 ° to each other in the motor (M). Of course, other angles, especially in motors with two stator ¬ coils or more than three stator coils are conceivable.

If the engine now rotates at a desired speed, it is preset from outside via a speed setpoint signal (GS). For regulating the speed, a first humming ierer (SO) is the Diffe ¬ ence from the velocity command signal (GS) and the speed actual-value signal (Eq) for speed difference signal (GD). A (main) controller supplies the speed control variable (GSG).

A first controller (RG 1) generates from the speed control variable (GSG) a first control signal (S l) for a first driver (Drl), which transmits the first stator coil (LI) via a first drive signal (Al_l) and via At a second ¬ control signal (Al_2) w ith electrical energy, in particular by means of a PWM modulated clamping nu ngsansteuerung supplied. The PWM parameters are generated by the first controller (RG1). A second controller (RG2) generates from the speed control variable (GSG) a second control signal (S2) for a second driver (Dr2), the second stator coil (L2) via a first drive signal (A2_l) and a second drive signal (A2_2 ) supplied with electrical energy, in particular by means of a PWM-modulated voltage control. The PWM parameters are generated by the second controller (RG2).

A third controller (RG3) generates from the speed control variable (GSG) a third control signal (S3) for a third driver (Dr3), which supplies the third stator coil (L3) via a third drive signal (A3_l) and via a second drive signal ( A3_2) with electrical energy, in particular by means of a

PWM-modulated voltage control, supplied. The PWM parameters are generated by the third controller (RG3). As a commutation here in particular a block commutation, but also a sinusoidal commutation comes into question. In a sinusoidal commutation, the signals to each other by the angle corresponding to the arrangement of the stator coils (L1, L2, L3) to each other temporally offset evenly, so at three stator coils by 120 °.

Due to the voltage control via the drivers (DR1, DR2, DR3), the three stator coils (L1, L2, L3) are energized. Preferably, through the first, second and third stator coil (L1, L2, L3) sinusoidal and / or sinusoidal alternating currents flow, which are offset by an angle, which preferably corresponds to the angle at which the coils are offset from each other, with respect to each other. For better understanding, here and in the following, they are based on three stator coils mounted at an angle of 120 °. The first stator coil (LI) is driven by way of example with a sine signal and the second stator coil (L2) with a time offset by 120 °. The third stator coil (L3) is controlled by a 240 ° offset signal. This produces a rotating field which is mechanically followed by the typically permanent-magnet rotor (M). The rotation of the rotor or other device operatively connected to the rotor is detected by an angle measuring device.

Such angle measuring devices are known, for example, from EP 2 700 911 A1, EP 1 452 836 B1 and DE 10 2012 015 792 A1. In the prior art, there are manifold methods for determining the angle of rotation α of the shaft of a motor (M). The application of these angle measurement methods is part of this disclosure. The result of the angle measurement by the angle measuring device (W) is the angle signal (a), which may be analog and / or digital. Preferably the angle measuring device (W) delivers a continuous measuring signal, namely the said angle signal (a).

 A conditioning and differentiating circuit (aG) generates the actual speed signal (G1) from the angle signal (a).

This will close the loop. Gain, sign, control and filter characteristics are chosen to give stability in the control loop. Description of the technical problem according to the invention

The problem to be solved according to the invention arises from the fact that the angle signal of the angle measuring device, the installation position of the angle measuring device (W) relative to the stator coils (L1, L2, L3) and the relative angular positions of the stator coils (L1, L2, L3) to each other can not be accurately reproduced in reality, but subject to manufacturing variations from engine to engine and thus are subject to a scattering error. In addition, the mechanics kinematics are subject to temperature-dependent changes. Other influences such as mechanical vibrations of the engine can disturb the arrangement as well. Thus, the angle measurement of the rotor position angle α with an angle measuring device (M) for determining an optimal commutation of a particular stator coil is always occupied with an angle error. This leads to commutation errors for the individual stator coils.

Object of the invention

It is the object of the invention to allow a calibration of a continuous or quasi-continuous angle measurement during operation.

Description of the invention To solve this problem is m e with the invention egg n method for controlling a brushless electric motor having a rotor rotatable about a rotor axis, a stator with at least two, preferably three ver ¬ sets arranged stator coils (L1, L2, L3) and an angle measuring device (W) for Ermittlu tion of the current rotational position of the rotor during its rotation, have been proposed, said ren in the procedural

at least intermittently, d. H . BEM F-free, the actual twist ¬ position of the rotor by an angle measurement signal providing (am) Win ¬ kelmessvorrichtung (W) is measured,

- the at least two stator coils (L1, L2, L3) are energized for a Erzeugu ng Mag ¬ netdrehfelds each having a coil current,

for at least one of the stator coils (L1, L2, L3) an induced voltage representative of BEM F- BEM F signal (BEM F1, F2 BEM, BEM F3) is generated ¬ riert,

- The angle measuring device (W) using the BEM F signal (BEM F1, BEM F2, BEM F3) for the at least one stator coil (L1, L2, L3) or for at least one of the stator coils (L1, L2, L3) is calibrated and the energization of at least two stator coils (L1, L2, L3) is controlled on the basis of the angle measuring signal (am) of the calibrated angle measuring device (W).

Advantageously, the angle measuring device (W) is calibrated to its angle measurement signal (am) given at the time of generation of the induced BEM F voltage.

In a further advantageous embodiment of the invention, it can be provided that the angle measuring device (W) provides a win ¬ kelmesssignal (am) representing the moment of the generation of the induced BEM F voltage rotor position, that from this measured Wi nkelsignal (am ) and the or a BEM F signal (BEM F1, BEM F2, BEM F3) is a Rotorlagewinelmessfeh lersignal (Fa) is determined and that the corrected Winkeimessignal (am) from the Rotorlagewinkelmessfehlersignal (Fa) and the Angle measurement signal (am) is calculated, in particular by a summation or subtraction of both signals.

Advantageously, the energization of the at least two stator coils (L1, L2, L3) can be controlled on the basis of a time derivative, in particular based on the first or second time derivative of the angle measurement signal of the calibrated angle measuring device (W).

Advantageously, it may further be provided that the BEMF at the time of zero crossing of the current through one of the stator coils (L1, L2, L3) or each of the stator coils (L1, L2, L3) is measured.

Finally, it may be advantageous that the calibration of the angle measuring device (W) per revolution of the rotor takes place as often as stator coils (L1, L2, L3) are present.

Further, it is possible that the correction of the angle measurement signal is performed during a time interval at the beginning of the rotation of the rotor or that the correction of the angle measurement signal is performed from time to time during the operation of the motor.

The angle measuring device (W) can supply the angle measurement signal (am) by means of at least one electrically, electromechanically, optically, capacitively and / or inductively operating sensor.

The invention will be explained with reference to FIG. 2:

In addition to the prior art, measurement of the electromotive force induced respectively by the rotor into the first stator coil (LI), the second stator coil (L2) and the third stator coil (L3) is performed with a first BEMF signal (BEMF1) and preferably a second one BEMF signal (BEMF2) and preferably a third BEMF signal (BEMF3). An angle detector (Bot) generates the measured angle signal (am) from the angle signal (a) detected by the angle measuring device (W) after gain and offset correction. If appropriate, the correction of the angle signal (a) can also take place by means of a more complicated, bijective polynomial in the angle-finding device (bot) instead of using this simple linear affine mapping.

An error calculation device (CV) now calculates from the measured angle signal (am) and from at least one BEMF signal, better from the first BEMF signal (BEMFl) and the second BEMF signal (BEMF2) and the third BEMF signal (BEMF3) as well if appropriate, further BEMF signals, in particular in the case of more than three stator coils, the rotor position angle measurement error signal (Fa).

An angle correction device (Ca) calculates, in particular by summation, a corrected rotor position angle signal (α ') from the rotor position angle measurement error signal (Fa) and the angle signal (am). This corrected rotor position angle signal (α ') is now used to generate the actual speed signal (G1) in the conditioning and differentiating circuit (aG).

The electromotive force in the form of the BEMF signals (BEMF1, BEMF2, BEMF3) is measured here, as usual in the prior art, during the zero passage of the respective coil current. For this purpose, for example, the first driver (Drl) generates a first output current signal (II), the second driver (Dr2) a second output current signal (12) and the third driver (Dr3) a third output current signal (13). In this way, the error calculation device (CV) is signaled when the time profile of the current flowing through the respective stator coil has a zero crossing. The error calculator (CV) determines, when the output current of the first driver (Drl) has a zero crossing, a first BEMF value based on the first BEMF signal (BEMF1). The error calculator (CV) also preferably determines a second BEMF value based on the second BEMF signal (BEMF2) whenever the output current of the second driver (Dr2) has a zero crossing. The error calculator (CV) also preferably determines the third BEMF value based on the third BEMF signal (BEMF3) whenever the output current of the third driver (Dr3) has a zero crossing. The error calculation device (CV) can thus determine the commutation angle correctly at zero crossings of the stator or coil currents on the basis of the back- acting ¬ electromotive force.

This is possible with three stator coils at three angular positions per revolution of the rotor. In between, the system must interpolate the current rotor position angle using some method.

According to the invention, it has now been recognized that a permanent, but possibly faulty, angle measurement, as is known from the prior art, can cooperate suitably with such a time-discrete measurement of the angle.

Thus, at each zero crossing of a stator coil current, a calibration of the continuous angle measurement by the angle measuring device can take place. This principle can in principle be applied to all continuous and / or quasi-continuous angle measuring device principles. examples For example, the measurement of the angle a, as already mentioned, is measured by means of coding discs or the like, can be recalibrated.

The invention will be explained in a further embodiment with reference to FIG. This differs from FIG. 2 in that a rotor position angle measurement error signal is determined for each stator coil and separate regulation of the commutations of each stator coil takes place independently of one another.

As already described above, in addition to the prior art, a measurement of the electromotive force induced by the rotor into the first stator coil (LI) and the second stator coil (L2) and the third stator coil (L3) with a first BEMF signal ( BEMF1) and preferably a second BEMF signal (BEMF2) and preferably a third BEMF signal (BEMF3).

An angle detection device (Bot) generates from the angle signal (a), which has determined the angle measuring device (W), after amplification and offset correction the measured angle signal (am) common to all three control channels. Optionally, the correction of the angle signal (a) instead of means of this simple linear affine mapping can also be done again by means of a more complicated, bijective polynomial in the angle detection device (Bot).

An error calculation device (CV) now calculates from the measured angle signal (am) and from at least the first BEMF signal (BEMF1), better from the first BEMF signal (BEMF1) and the second BEMF signal (BEMF2) and the third BEMF signal (BEMF3) and possibly further BEMF signals for the first stator coil (LI) of the three stator coils, the rotor position angle measurement error signal (Fai) of the first channel.

The error calculation device (CV) additionally calculates from the measured angle signal (am) and from at least the second BEMF signal (BEMF2), better from the first BEMF signal (BEMF1) and the second BEMF signal (BEMF2) and the third BEMF signal (BEMF3) and optionally further BEMF signals for the second stator coil (L2) of the three stator coils, the rotor position angle measurement error signal ( Fa 2 ) of the second channel.

The error calculator (CV) additionally calculates from the measured angle signal (am) and from at least the third BEMF signal (BEMF3), better from the first BEMF signal (BEMF1) and the second BEMF signal (BEMF2) and the third BEMF signal (BEMF3) and, if appropriate, further BEMF signals for the third stator coil (L3) of the three stator coils, the rotor position angle measurement error signal (Fa 3 ) of the third channel.

An angle correction device (Coti) of the first channel calculates, in particular by summation, a corrected rotor position angle signal (α 1) of the first channel from the rotor position angle measurement error signal (Foti) of the first channel and the angle signal (a) or the measured angle signal (am).

An angle correction device (Ca 2 ) of the second channel calculates, in particular by summation, a corrected rotor position angle signal (α 2 Λ ) of the second channel from the rotor position angle measurement error signal (Fa 2 ) of the second channel and the angle signal (a) or the measured angle signal (am).

An angle correction device (Ca 3 ) of the third channel calculates, in particular by summation, a corrected rotor position angle signal (α 3 Λ ) of the third channel from the rotor position angle measurement error signal (Fa 3 ) of the third channel and the angle signal (a) or the measured angle signal (am).

These corrected rotor position angle signals (.alpha. ', .Alpha., .Alpha.) Are now used in each case for processing and differentiating circuits (aGi, aG 2 , aG 3 ) associated with the respective channel for the respective rotor position angle signal

(αι ', α ^, α ^) of the respective channel to the respective channel associated speed actual signal (GIi, GI 2 , GI 3 ,) to generate. The electromotive force in the form of the BEM F signals (BEM F1, BEM F2, BEM F3) is measured here, as usual in the prior art, during the zero passage of the respective coil current. For this purpose, for example, the first driver (Drl) generates a first output current signal (II), the second driver (Dr2) a second output current signal (12) and the third driver (Dr3) a third output current signal (13). In this way, the error calculation device (CV) is signaled when the respective output current, which energizes the respective stator coil, has a zero crossing.

The error calculator (CV) determines, when the output current of the first driver (Drl) of the first stator coil (LI) has a zero crossing, a first BEM F value from the first BEM F signal (BEM F1).

The error calculation device (CV) preferably determines, whenever the output current of the second driver (Dr2) of the second stator coil (L2) has a zero crossing, a second BEMF value based on the second BEM F signal (BEM F2).

The error calculator (CV) preferably determines the third BEM F value based on the third BEM F signal (BEM F3) whenever the output current of the third driver (Dr3) of the third stator coil (L3) has a zero crossing.

The error calculation device (CV) can thus determine the commutation angle correctly based on the retroactive electromotive force only at zero crossings of the stator currents. This is also possible in the case of Figure 3 with three stator coils only at three angular positions during one revolution. In between, the system must interpolate the current rotor position angle using some method. According to the invention it has now been recognized that a permanent, but erroneous angle measurement, as known from the prior art, can cooperate with such a discrete-time measurement of the angle suitable.

Thus, at each zero crossing of a stator coil current of the respective stator coil of a channel, a calibration of the continuous angle measurement by the angle measuring device can take place. This principle can basically be used for all continuous and / or quasi-continuous angle measuring device principles. For example, the measurement of the angle a, as already mentioned, can be recalibrated by means of coding discs or the like. In contrast to FIG. 2, however, mechanical misalignments of the stator coils with one another and / or asymmetrical magnetizations of the motor rotor are automatically compensated for.

The invention can also be described alternatively by one of the following feature groups, wherein the feature groups can be combined with one another and also individual features of a feature group can be combined with one or more features of one or more other feature groups and / or one or more of the previously described embodiments are.

Method for controlling the supply of a brushless motor with electrical energy

 wherein the brushless motor comprises at least two stator coils which are offset from each other with respect to the axis of rotation of the rotor by a first angle, and

 wherein the brushless motor comprises at least one angular position measuring system (W) for the rotor position measurement, and

comprising the steps at least periodically energizing the at least two stator coils (L1, L2, L3) with at least a first and a second stator coil current, wherein the first stator coil is offset relative to the second stator coil current, and wherein at least the first and second stator coil have an alternating current component and

continuous measuring of a first angular position (a) of the rotor by means of the said angle measuring system (W) at least in sections of time;

optionally, at least in sections, measuring further angular positions of the rotor by means of optionally further angle measuring systems;

measuring the BEMF (BEMF1, BEMF2, BEMF3) on at least one stator coil by means of an error calculation device (CV) at least on a periodic basis;

continuous calculation of measured angle signal (am) at least in sections from the measured values of the angle measuring system (W) and / or the angle measuring systems by means of an angle-determining device (bot);

calculation of a rotor position angle measurement error (Fa) from the rotor position angle (a) and at least one measurement result of the BEMF measurement (BEMF1, BEMF2, BEMF3) by the error calculation device (CV) at least in sections.

continuous calculation of a corrected rotor position angle (a) from the rotor position angle (a) and the rotor position angle measurement error (Fa) by means of an angle correction device (Ca) at least in sections of time;

Control (S0, GD, RG0, RG1, RG2, RG3, S1, S2, S3, Dr1, Dr2, Dr3) of the at least time-wise energizing of the at least two stator coils (L1, L2, L3) as a function of this corrected rotor position angle (α '). ) or a simple or multiple temporal derivation of the same. Method for controlling the supply of a brushless motor with electrical energy

 wherein the brushless motor comprises at least two stator coils which are offset by a first angle relative to each other with respect to the axis of rotation of the rotor, and

 wherein the brushless motor comprises at least one angular position measuring system (W) for the rotor position measurement, and

comprising the steps

 at least periodically energizing the at least two stator coils (L1, L2, L3) with at least a first and a second stator coil current, wherein the first stator coil is offset relative to the second stator coil current, and wherein at least the first and second stator coil have an alternating current component and

 continuous measuring of a first angular position (a) of the rotor by means of the said angle measuring system (W) at least in sections of time;

 optionally, at least in sections, measuring further angular positions of the rotor by means of optionally further angle measuring systems;

 measuring the BEMF (BEMF1, BEMF2, BEMF3) on the at least two stator coils at least in sections by an error calculation device (CV);

 continuous calculation of measured angle signal (am) at least in sections from the measured values of the angle measuring system (W) and / or the angle measuring systems by means of an angle-determining device (bot);

Calculation of a rotor position angle measurement error (Foti) for the first stator coil (LI) from the rotor position angle (a) and at least the measurement result of the BEMF measurement of the at least time-periodwise first stator coil (BEMF1) by the error calculator (CV);

at least time-wise calculation of a rotor position angle measurement error (Fa 2 ) for the second stator coil (L2) from the rotor position angle (a) and at least the measurement result of the BEMF measurement of the second stator coil (BEMF2) by the error calculation device (CV);

optionally, at least in sections, calculating a rotor position angle measurement error (Fa 3 ) for the third stator coil (L3) from the rotor position angle (a) and at least the measurement result of the BEMF measurement of the third stator coil (BEMF3) by the error calculation device (CV);

optionally at least time-periodwise calculation of further rotor position angle measurement errors (Fa) for the further stator coils (L3) from the rotor position angle (a) and at least the respective measurement result of the BEMF measurement of the respective stator coil by the error calculation device (CV);

continuous calculation of at least one of the first stator coil (LI) associated rotor position angle (α ^) from the rotor position angle (a) and the associated Rotorlagewinkelmessfehler (Foti) by one of the first stator coil (LI) associated angle correction device (Cai);

at least for a period of time continuously calculating a corrected rotor position angle (α 2 Λ ) associated with the second stator coil (L2) from the rotor position angle (a) and the associated rotor position angle measurement error (Fa 2 ) by an angle correction device (Ca 2 ) associated with the second stator coil (L2);

optionally, at least in sections, continuous calculation of a corrected rotor position angle (α 3 Λ ) assigned to the third stator coil (L3) from the rotor position angle (a) and the associated rotor position angle measurement error (Fa 3 ) by an angle correction device (Ca 3 ) associated with the third stator coil (L3); optionally, at least in sections, continuous calculation of a corrected rotor position angle (α ') assigned to the respective further stator coil from the rotor position angle (a) assigned to the respective further stator coil and the associated rotor position angle measurement error (Fa) by an angle correction device (Ca) assigned to the respective further stator coil;

Control (S0i, GDi, RG0i, RGl, Sl, Drl) of the at least time-wise energizing the first stator coil (LI) in response to this corrected, the first stator coil (LI) associated rotor position angle (αι Λ ) or a single or multiple time derivative thereof ;

Control (S0 2 , GD 2 , RG0 2 , RG2, S2, Dr2) of the at least time-wise energizing the second stator coil (L2) in response to this corrected, the second stator coil (L2) associated rotor position angle (α 2 Λ ) or a simple or multiple temporal derivative of the same.

optionally control (S0 3 , GD 3 , RG0 3 , RG3, S3, Dr3) of the at least time-wise energizing the third stator coil (L3) in response to this corrected, the third stator coil (L3) associated rotor position angle (α 3 Λ ) or a simple or multiple temporal derivative thereof;

optionally control (S0 n , GD n , RG0 n , RG n , S n , Dr n ) of the at least time-wise energizing a further stator coil in response to this corrected, the respective other stator coil associated further rotor position angle (a) or a single or multiple temporal Derivation of the same.

Method for controlling a brushless electric motor, comprising a rotor rotatable about a rotor axis, a stator having at least two, preferably three staggered stator coils (L1, L2, L3) and an angle measuring device (W) for BEMF-free determination of the ak- Torsional rotational position of the rotor during its rotation, wherein in the method

 at least temporarily, the current rotational position of the rotor is continuously measured by the angle measuring device (W) which delivers an angle measuring signal,

 the at least two stator coils (L1, L2, L3) are energized with a respective coil current for generating a magnetic rotary field, for at least one of the stator coils (L1, L2, L3) a BEMF signal representing the induced BEMF voltage

(BEMF1, BEMF2, BEMF3) is generated,

 the angle measuring signal of the angle measuring device (W) is corrected for the at least one stator coil (L1, L2, L3) using the BEMF signal (BEMF1, BEMF2, BEMF3) and

 the energization of the at least two stator coils (L1, L2, L3) is controlled on the basis of the corrected angle measuring signal of the angle measuring device (W).

Method according to one of the numbers 1 to 3, wherein by controlling the energization of the at least two stator coils (L1, L2, L3) on the basis of a time derivative, in particular based on the first or second time derivative of the corrected angle measurement signal of the angle measuring device (W).

Method according to one of the numbers 1 to 4, wherein the BEMF at the time of the zero crossing of the current through one of the stator coils (L1, L2, L3) or each of the stator coils (L1, L2, L3) is measured.

Method according to one of the numbers 1 to 5, wherein the correction of the angle measurement signal per revolution of the rotor takes place as often as stator coils (L1, L2, L3) are present. Method according to one of the numbers 1 to 6, wherein the correction of the angle measurement signal during a time interval is performed at the beginning of the rotation of the rotor. Method according to one of the numbers 1 to 7, wherein the correction of the angle measurement signal during the operation of the motor is performed from time to time.

REFERENCE LIST α angle signal

corrected rotor position angle signal / corrected rotor position angle αι Λ corrected rotor position angle signal / corrected rotor position angle of the first channel

α 2 Λ corrected rotor position angle signal / corrected rotor position angle of the second channel

α 3 Λ corrected rotor position angle signal / corrected rotor position angle of the third channel

at the measured angle signal after gain and offset correction aG Processing and differentiating circuit for the angle signal (a), which optionally includes digitization and optionally filtering. aGi processing and differentiating circuit of the first channel for the

 Angle signal (a), which optionally includes digitization and optionally filtering.

aG 2 processing and differentiating circuit of the second channel for the

 Angle signal (a), which optionally includes digitization and optionally filtering.

aG 3 Processing and differentiating circuit of the third channel for the

 Angle signal (a), which optionally includes digitization and optionally filtering.

 Al_l first drive signal for the first stator coil LI

 Al_2 second drive signal for the first stator coil LI

 A2_l first drive signal for the second stator coil L2

 A2_2 second drive signal for the second stator coil L2

 A3_l first drive signal for the third stator coil L3

 A3_2 second drive signal for the third stator coil L3

 Ba angle detection device

 BEMF1 first BEMF signal

 BEMF2 second BEMF signal

 BEMF3 third BEMF signal

Ca angle correction device Coti angle corrector of the first channel

Ca 2 angle correction device of the second channel

Ca 3 angle correction device of the third channel

 CV error calculation device

 11 first output current signal

 12 second output current signal

 13 third output current signal

DR1 first driver

 DR2 second driver

 DR3 third driver

 Fa Rotor position angle measurement error signal / rotor position angle measurement error

 Foti Rotor attitude angle measurement error signal / Rotor attitudewinkelmessfehler the first channel

Fa 2 rotor position angle measurement error signal / rotor position angle measurement error of the second channel

Fa 3 rotor position angle measurement error signal / rotor position angle measurement error of the third channel

 GD speed difference signal

 GDi speed difference signal of the first channel

GD 2 speed difference signal of the second channel

GD 3 speed difference signal of the third channel

 GS speed command signal

 GSG speed control value

 GSGi speed control value of the first channel

GSG 2 speed control value of the second channel

GSG 3 speed control value of the third channel

 Gl Actual speed signal

 GIi Speed signal of the first channel

GI 2 Actual speed signal of the second channel

GI 3 actual speed signal of the third channel

 LI first stator coil

L2 second stator coil L3 third stator coil

 M rotor

 RGO zeroth controller

 RGOi zeroth controller of the first channel

RG0 2 zeroth controller of the second channel

 RGO3 zeroth third channel knob

 RG1 first controller

 RG2 second controller

 RG3 third controller

 SO first summer

 SOi first summer of the first channel

S0 2 first summer of the second channel

S0 3 first summer of the third channel

 Sl first control signal for the first driver (Drl)

S2 second control signal for the second driver (Dr2)

S3 third control signal for the third driver (Dr3)

W angle measuring device

Claims

A method for controlling a brushless electric motor comprising a rotor rotatable about a rotor axis, a stator with at least two, preferably three staggered stator coils (L1, L2, L3) and an angle measuring device (W) for determining the current rotational position of the rotor having its rotation, wherein in the method
 at least at times the current rotational position of the rotor is continuously measured by the angle measuring device (W) which supplies an angle measurement signal (a),
 the at least two stator coils (L1, L2, L3) are energized with a respective coil current for generating a magnetic rotary field, for at least one of the stator coils (L1, L2, L3) a BEMF signal representing the induced BEMF voltage
(BEMF1, BEMF2, BEMF3) is generated,
 the angle measuring device (W) is calibrated on the basis of the BEMF signal (BEMF1, BEMF2, BEMF3) for the at least one stator coil (L1, L2, L3) or for at least one of the stator coils (L1, L2, L3) and
 the energization of the at least two stator coils (L1, L2, L3) is controlled on the basis of the angle measuring signal (am) of the calibrated angle measuring device (W).
2. The method according to claim 1, characterized in that for calibrating the angle measuring device (W) whose given at the time of generation of the induced BEMF voltage angle measurement signal (am) is corrected.
3. The method according to claim 2, characterized in that the angle measuring device (W) representing the at the time of generation of the induced BEMF voltage given rotor position angle measuring Signal (am) provides that a rotor position angle error signal (Fa) is determined from this measured angle signal (am) and the or a BEMF signal (BEMF1, BEMF2, BEMF3) and that the corrected angle signal (am) from the rotor position angle measurement error signal (Fa ) and the angle measurement signal (am), in particular by a summation or subtraction of both signals.
4. The method according to any one of claims 1 to 3, characterized by controlling the energization of the at least two stator coils (L1, L2, L3) based on a time derivative, in particular based on the first or second time derivative of the angle measurement signal of the calibrated angle measuring device (W).
5. The method according to any one of claims 1 to 4, characterized in that the BEMF at the time of zero crossing of the current through one of the stator coils (L1, L2, L3) or each of the stator coils (L1, L2, L3) is measured.
6. The method according to any one of claims 1 to 5, characterized in that the calibration of the angle measuring device (W) per revolution of the rotor takes place as often as stator coils (L1, L2, L3) are present.
7. The method according to any one of claims 1 to 6, characterized in that the correction of the angle measurement signal during a time interval is performed at the beginning of the rotation of the rotor.
8. The method according to any one of claims 1 to 7, characterized in that the correction of the angle measurement signal during operation of the motor is performed from time to time.
9. The method according to any one of claims 1 to 8, characterized in that the angle measuring device (W) the angle measuring signal (am) by means of at least one electrically, electromechanically, optically, capacitively and / or inductively operating sensor supplies.
PCT/EP2016/067330 2015-07-23 2016-07-20 Method for controlling a brushless motor WO2017013184A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE102015009581 2015-07-23
DE102015009581.1 2015-07-23
EP16152948 2016-01-27
EP16152948.2 2016-01-27

Publications (1)

Publication Number Publication Date
WO2017013184A1 true WO2017013184A1 (en) 2017-01-26

Family

ID=56618121

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/067330 WO2017013184A1 (en) 2015-07-23 2016-07-20 Method for controlling a brushless motor

Country Status (1)

Country Link
WO (1) WO2017013184A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040257027A1 (en) * 2003-06-20 2004-12-23 Takayoshi Matsuo Motor Controller
DE102005045323A1 (en) * 2004-09-23 2006-04-13 General Motors Corp. (N.D.Ges.D. Staates Delaware), Detroit Position sensor fault tolerant control for automotive propulsion system
DE102009030954A1 (en) * 2008-06-30 2009-12-31 Denso Corporation, Kariya-City Motor control device for controlling a motor in dependence on the rotational position of its rotor
DE102012202772A1 (en) * 2012-02-23 2013-08-29 Robert Bosch Gmbh Calibration and monitoring of an angle measuring system for electrical machines

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040257027A1 (en) * 2003-06-20 2004-12-23 Takayoshi Matsuo Motor Controller
DE102005045323A1 (en) * 2004-09-23 2006-04-13 General Motors Corp. (N.D.Ges.D. Staates Delaware), Detroit Position sensor fault tolerant control for automotive propulsion system
DE102009030954A1 (en) * 2008-06-30 2009-12-31 Denso Corporation, Kariya-City Motor control device for controlling a motor in dependence on the rotational position of its rotor
DE102012202772A1 (en) * 2012-02-23 2013-08-29 Robert Bosch Gmbh Calibration and monitoring of an angle measuring system for electrical machines

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